Add asset food/fruits/cfc7c6cf39a358d0a03ce8401a052373

.gitattributes

@@ -3583,9 +3583,6 @@ dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb fil
 dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff/apple_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff/mesh/apple_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/d474a8187dee559fbf80fc9b700cf152.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/mesh/orange.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d9d7ac60788859b18234388efd84d523/d9d7ac60788859b18234388efd84d523.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/cfc7c6cf39a358d0a03ce8401a052373.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/cfc7c6cf39a358d0a03ce8401a052373.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/apple.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/apple_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.090000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>smooth yellow apple with a short brown stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.1</max_height>
+         <real_height>0.09</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116135953</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.002590656280518</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/cfc7c6cf39a358d0a03ce8401a052373.usd

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+oid sha256:c8c599515c4f1d054f3470fd6da65ef4776c4d062729fa2ac34c894afd7c6615
+size 798702

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mesh/apple.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f680e47e8db7f33a70dae236c7e1f16dbaf252b8166be326517ec205ce04eee0
+size 1564860

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mesh/apple_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:46ed2658e84a89b9d3676aa4f107b276fc409940dd76e212373b4426fb470145
+size 3348937

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mjcf/cfc7c6cf39a358d0a03ce8401a052373.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="apple">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/apple.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/apple_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/apple_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/apple_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/apple_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/apple_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/apple_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/apple_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/apple_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/apple_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/apple_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="apple">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mjcf/mesh/apple_collision_0.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mjcf/mesh/apple_collision_5.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00063261 -0.00224812 -0.04076519
+v -0.00063261 -0.00224812 0.02997288
+v -0.00063261 0.00319153 -0.04076519
+v -0.00063261 0.00319153 0.02997288
+v 0.00036739 -0.00224812 -0.04076519
+v 0.00036739 -0.00224812 0.02997288
+v 0.00036739 0.00319153 -0.04076519
+v 0.00036739 0.00319153 0.02997288
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mjcf/mesh/apple_collision_6.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00075627 -0.00092228 0.02342079
+v 0.00010243 -0.00092227 0.02292910
+v 0.00322664 -0.00092227 0.02284956
+v 0.00164221 -0.00009892 0.02714460
+v 0.00078991 -0.00036811 0.02594430
+v 0.00010243 -0.00004382 0.02680475
+v 0.00010243 -0.00092205 -0.03936340
+v 0.00322664 0.00346150 0.02326172
+v 0.00321441 0.00218239 0.03091903
+v 0.00317527 0.00166569 0.03091903
+v 0.00308444 0.00136986 0.03091903
+v 0.00255782 0.00105550 0.03091902
+v 0.00226546 0.00096066 0.03091902
+v 0.00322664 -0.00092204 -0.04058539
+v 0.00078991 -0.00009756 0.02709398
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dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mjcf/mesh/apple_collision_7.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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dataset/food/fruits/cfc7c6cf39a358d0a03ce8401a052373/mjcf/mesh/apple_collision_8.obj

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